CA3102738C - Systeme de direction pour vehicule autonome - Google Patents

Systeme de direction pour vehicule autonome Download PDF

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Publication number
CA3102738C
CA3102738C CA3102738A CA3102738A CA3102738C CA 3102738 C CA3102738 C CA 3102738C CA 3102738 A CA3102738 A CA 3102738A CA 3102738 A CA3102738 A CA 3102738A CA 3102738 C CA3102738 C CA 3102738C
Authority
CA
Canada
Prior art keywords
steering system
actuator
actuators
steering
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA3102738A
Other languages
English (en)
Other versions
CA3102738A1 (fr
Inventor
Benoit St-Germain
Martin Houle
Benoit Lussier
Sylvie Houle
Claude Tessier
David Lortie
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alstom Transportation Germany GmbH
Original Assignee
Bombardier Transportation GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bombardier Transportation GmbH filed Critical Bombardier Transportation GmbH
Publication of CA3102738A1 publication Critical patent/CA3102738A1/fr
Application granted granted Critical
Publication of CA3102738C publication Critical patent/CA3102738C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0418—Electric motor acting on road wheel carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/20—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/22—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system
    • B62D7/228—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system acting between the steering gear and the road wheels, e.g. on tie-rod
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/003—Backup systems, e.g. for manual steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Un véhicule autonome pour des passagers comprend quatre roues directrices, qui sont chacune orientées par un système de direction comportant un ensemble de deux actionneurs. Un actionneur de chaque ensemble dactionneurs est alimenté par une première source dalimentation alors que lautre actionneur est alimenté par une deuxième source dalimentation. Quatre contrôleurs contrôlent chacun un actionneur de chaque ensemble dactionneurs et un actionneur dun autre tel ensemble.
CA3102738A 2019-12-20 2020-12-16 Systeme de direction pour vehicule autonome Active CA3102738C (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962951414P 2019-12-20 2019-12-20
US62951414 2019-12-20

Publications (2)

Publication Number Publication Date
CA3102738A1 CA3102738A1 (fr) 2021-02-16
CA3102738C true CA3102738C (fr) 2022-06-14

Family

ID=73856426

Family Applications (2)

Application Number Title Priority Date Filing Date
CA3099415A Pending CA3099415A1 (fr) 2019-12-20 2020-11-17 Systeme de direction pour vehicule autonome
CA3102738A Active CA3102738C (fr) 2019-12-20 2020-12-16 Systeme de direction pour vehicule autonome

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CA3099415A Pending CA3099415A1 (fr) 2019-12-20 2020-11-17 Systeme de direction pour vehicule autonome

Country Status (4)

Country Link
US (1) US20210188345A1 (fr)
EP (1) EP3838718A1 (fr)
CN (1) CN113002615B (fr)
CA (2) CA3099415A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4363292A1 (fr) * 2021-06-28 2024-05-08 Volvo Truck Corporation Procédé de commande d'une opération de direction et système de direction

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19526250B4 (de) * 1995-07-18 2005-02-17 Daimlerchrysler Ag Brems- und Lenksystem für ein Fahrzeug
JP4140372B2 (ja) * 2002-12-18 2008-08-27 日産自動車株式会社 多重系車両操舵装置
DE10352494A1 (de) * 2003-11-11 2005-06-09 Robert Bosch Gmbh Momentensteller für ein Lenksystem in einem Kraftfahrzeug
US7434653B2 (en) * 2005-03-31 2008-10-14 Caterpillar Inc. On-demand electro-hydraulic steering system
KR101726688B1 (ko) * 2012-06-20 2017-04-14 한화테크윈 주식회사 비상조향 시스템 및 비상조향 시스템의 제어방법
EP2938531B1 (fr) * 2012-12-27 2017-08-23 Volvo Truck Corporation Procédé de commande d'un système de direction assistée pour un véhicule possédant deux essieux directeurs
ITTO20130066A1 (it) * 2013-01-28 2014-07-29 Fiat Group Automobiles Spa Sistema di servosterzo elettrico per un autoveicolo
BR112016008551B1 (pt) * 2013-10-17 2021-08-31 Volvo Do Brasil Veículos Ltda Sistema de direção para um veículo
KR101539027B1 (ko) * 2013-12-24 2015-07-29 한국과학기술원 인휠모터 구동 자동차의 조향장치 및 이를 이용한 조향 제어방법
US20160096550A1 (en) * 2014-04-09 2016-04-07 Matthew W. Dames Agricultural vehicle with toe angle adjustment
MY177665A (en) * 2015-02-19 2020-09-23 Honda Motor Co Ltd Vehicle
DE102016204560A1 (de) * 2016-03-18 2017-09-21 Ford Global Technologies, Llc Lenksystem für ein lenkbares Fahrzeug
US9919736B2 (en) * 2016-03-30 2018-03-20 Nissan North America, Inc. Vehicle adaptive steering control apparatus
US10787192B1 (en) * 2017-04-11 2020-09-29 Apple Inc. Steer-by-wire system with multiple steering actuators
DE102017208554A1 (de) * 2017-05-19 2018-11-22 Bayerische Motoren Werke Aktiengesellschaft Radaufhängung für ein zumindest geringfügig aktiv lenkbares Hinterrad eines zweispurigen Fahrzeugs, Achse mit einer Radaufhängung und Fahrzeug mit einer Radaufhängung
CN107650678B (zh) * 2017-09-22 2021-08-17 清华大学 分布式纯电动车的底盘系统
US11584429B2 (en) * 2018-03-26 2023-02-21 Jtekt Corporation Control device, steering device, control method, and recording medium
JP6429224B1 (ja) * 2018-05-21 2018-11-28 株式会社ショーワ 操舵装置の設計方法
KR102582336B1 (ko) * 2018-06-25 2023-09-25 볼보 트럭 코퍼레이션 차량용 조향 어셈블리
JP7141893B2 (ja) * 2018-09-04 2022-09-26 日立Astemo株式会社 ステアリング装置
TWI790411B (zh) * 2019-11-22 2023-01-21 財團法人工業技術研究院 轉向裝置及方法

Also Published As

Publication number Publication date
CN113002615A (zh) 2021-06-22
CN113002615B (zh) 2023-08-18
US20210188345A1 (en) 2021-06-24
EP3838718A1 (fr) 2021-06-23
CA3102738A1 (fr) 2021-02-16
CA3099415A1 (fr) 2021-02-05

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